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Preheat the oven to 350 degrees.
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Toss the vegetables, garlic cloves, olive oil, and herbs on a sheet pan until coated. Roast for about 30 minutes.
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While the vegetables are roasting, bring a pot of water to a boil. Cook the orzo according to package directions. Drain and set aside in a serving bowl.
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Stir the vegetables into the orzo.
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Squeeze the lemon juice over the mixture and season with salt and pepper to taste.
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Grate Parmesan cheese on top and garnish with the fresh basil.